diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 32a108e3ce0..3e223bef34d 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -6,6 +6,20 @@
 # ROS_SUPERFLORE_GENERATED_TESTS, so it's not been added to ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES).
 RDEPENDS_${PN}_append = " rmw-fastrtps-dynamic-cpp"
 
+# Remove these explicitly until they are dropped from the ROS_EXEC_DEPENDS of ros-core, after which (most of them) will not be in
+# in ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES because they only appear in ROS_TEST_DEPENDS.
+RDEPENDS_${PN}_remove = "ament-cmake"
+RDEPENDS_${PN}_remove = "ament-cmake-auto"
+RDEPENDS_${PN}_remove = "ament-cmake-gmock"
+RDEPENDS_${PN}_remove = "ament-cmake-gtest"
+RDEPENDS_${PN}_remove = "ament-cmake-pytest"
+RDEPENDS_${PN}_remove = "ament-cmake-ros"
+RDEPENDS_${PN}_remove = "ament-index-cpp"
+RDEPENDS_${PN}_remove = "ament-index-python"
+RDEPENDS_${PN}_remove = "ament-lint-auto"
+RDEPENDS_${PN}_remove = "ament-lint-common"
+RDEPENDS_${PN}_remove = "rosidl-default-generators"
+
 # Can't build these until we figure out how to build clang-format without building all of clang.
 RDEPENDS_${PN}_remove = "ament-clang-format"
 RDEPENDS_${PN}_remove = "ament-cmake-clang-format"